螺丝锁付装置取放料时间寻优轨迹规划  

Trajectory Planning for Optimizing Material Picking and Placing Time of Screw Locking Device

作　　者：徐杰 韩建海[1] 郭冰菁[1] 李向攀[1] 邓毅 XU Jie;HAN Jianhai;GUO Bingjing;LI Xiangpan;DENG Yi(School of Mechatronics Engineering,Henan University of Science and Technology,Luoyang,Henan 47100,China;Changzhou Bodian Robot Co.,Ltd.,Changzhou,Jiangsu 213002,China)

机构地区：[1]河南科技大学机电工程学院,河南洛阳471000 [2]常州铂电机器人有限公司,江苏常州213002

出　　处：《轻工机械》2023年第3期9-15,共7页Light Industry Machinery

基　　金：河南省科技攻关项目(212102310890);河南省科技攻关项目(212102310249)。

摘　　要：为提高螺丝锁付装置的锁付效率,课题组针对锁付过程中最频繁的取放料操作进行时间寻优轨迹规划。课题组以旋量理论建立运动学模型,基于运动合成的思想,采用多段六次多项式插值算法进行规划轨迹,并结合改进粒子群算法得到时间插值节点的优化解。仿真实验结果表明:采用改进粒子群算法,在迭代约40次时算法达到收敛,轨迹所需时间相对于优化前缩短了约30%;关节空间下各关节的位置、速度和加速度曲线连续平滑,无明显突变,末端笛卡尔空间下轨迹满足取放料轨迹的设计要求。该时间最优轨迹规划的方法有效提高了螺丝锁付装置的工作效率。In order to improve the locking efficiency of screw locking device,time-optimized trajectory planning was carried out for the most frequent feeding and discharging operations in the locking process.The kinematics model was established based on the screw theory.With the idea of motion synthesis,multi-segment 6-degree polynomial interpolation was used to plan the trajectory,and the optimized solution of time interpolation node wass obtained by combining the improved particle swarm algorithm.The simulation results show that the improved particle swarm optimization algorithm can converge after 40 iterations,and the trajectory time is shortened by about 30%compared with the initial time.The position,speed and acceleration curves of each joint in joint space are continuous and smooth without obvious abrupt change.The lower trajectory of Cartesian space at the end meets the design requirements of feeding and discharging trajectory.The time-optimized trajectory planning method can effectively improve the working efficiency of screw locking device.

关 键 词：螺丝锁付 轨迹规划 旋量理论 改进粒子群算法 六次多项式插值算法 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TH112.1[自动化与计算机技术—控制科学与工程]